Abstract A 3-degree-of-freedom (DOF) 3-UPU translational parallel mechanism (TPM) is one of the typical TPMs. Despite comprehensive studies on TPMs in which joint axes base and moving platform are coplanar, only a few with skewed have been proposed, impact link parameters constraint singularity loci such has not systematically investigated. The advances computing Gröbner system (CGS) or cover p...

We present a new kinematic calibration algorithm for redundantly actuated parallel mechanisms, and illustrate the algorithm with a case study of a planar seven-element 2-degree-of-freedom (DOF) mechanism with three actuators. To calibrate a nonredundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism’s kinematic structu...

A novel backdrivable 3-[ R ( R- RR)SR] kinematically redundant (6+3)-degree-of-freedom (DOF) spatial hybrid parallel robot with revolute actuators is proposed for low-impedance physical human–robot interaction. The kinematic model developed based on the constraint conditions of robot. It sho...